Electromyographic Controlled Vehicles and Chairs

ABSTRACT

The present invention is intended to provide an EMG signal controller or a wheelchair using an EMG signal controller to allow full vehicular direct drive control, and wheelchair accessory control, by using one or more EMG sensors applied to certain muscles of a subject, and translating the movement of the muscles of the subject that the EMG sensors are connected, to electrical signals causing for the operation of a motorized wheelchair. The controller and wheelchair are designed specifically for paralyzed individuals with limited motion, but may be used by any subject with or without any physical or nervous system disabilities. The present invention further provides an emergency stop which is activated in the event that the subject using the wheelchair experiences a seizure or other neurological shock.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.15/361,372, having a filing date of Nov. 26, 2016, the disclosure ofwhich is hereby incorporated by reference in its entirety and allcommonly owned.

FIELD OF THE INVENTION

The present invention relates to electric vehicles and wheelchairs foruse by subjects. More particularly, the present invention relates toelectric wheelchairs interfacing with the electromyographic (EMG)signals from subjects to enable an EMG controlled electric vehicle orwheelchair.

BACKGROUND OF THE INVENTION

Disabled persons often encounter problems with movement and mobility,particularly when it comes to maneuvering devices such as wheelchairs.In addition, for both medical and entertainment purposes, hand-freecontrolled vehicles and wheelchairs have been sought after to offeralternative solutions relating to particular needs of individuals. Manysolutions have been provided to provide advances in electric mobility,particularly with maneuvering electronic wheelchairs, but each solutionhas introduced new problems in the art.

Existing solutions in the art have many shortcomings which have plaguedtechnologies set out to solve similar problems. One attempt includes“sip and puff”, which makes use of an air pressure induced switch.However, the sip and puff systems are invasive and requires completeuser focus and attention. In addition, sip and puff motorized systems donot allow for fluid movement. Moreover, in the event of a seizure orother neurological shock, nothing in the sip and puff system stops thesystem, and to include such a feature in a sip and puff system wouldrequire a constant sip or puff control uring the operation of thewheelchair, which could cause other issues.

Some attempts result in a delayed or prolonged reaction time to get toevery pre-programmed direction, thus it becomes burdensome and providesless ubiquitous movement. The predetermined positions and anglespre-programmed into the motion controller become user unfriendly and aburden for a user to use.

Other solutions use a visual indicator that cycles through a group ofpredetermined commands, which one must try and stop the visual indicatoron the command or control they desire. In addition once a direction isselected on the visual indicator the visual indicators remains activatefor a predetermined amount of time when activated. The features limitthe control a user has, and in many situation can be dangerous to auser. For example, in these configurations if a user is close to astaircase they would want to be able to directly control the amount oftime the controller is activated and not have it based on apredetermined time. This can cause a delay in control time as it willtake additional time to cycle from forward position to reverse position.

Yet additional solutions attempt to use an indirect controller where theuser needs to look at the controller in order to know which directionhe/she will go. This makes the user take their eyes off theirsurroundings while driving. This solution is often disrupted if thereare loud noises in the environment.

Thus there remains an unmet need for a ubiquitous EMG signal controllerthat allows a user to provide signals without having to direct theirattention to any visual or audio indication in order to provide desiredmotion signals to an EMG motion controller.

It is appreciated that the disabled usually have neurological or centralnervous disabilities to accompany their physical or skeletal or musculardisabilities, thus it is common that disabled users are subject toseizures or other neurological shocks and involuntary movements. Thecurrent solutions do not include the ability to provide an emergencystop in case a user has seizure or other medical condition that causesuser to lose control of muscles. Thus there remains an unmet need toprovide an EMG control system that stops movement in the event oferratic muscle movements.

Finally, other solutions prove difficult to integrate into otherwheelchair controls/devices such as the device can only use the pre-setcommands listed on the visual indicator. Thus retro-fitting an existingchair becomes impossible and often adds additional elements causingfailure. Thus there further remains an unmet need for a system that canbe included in a kit for retro-fitting an existing motor vehicle orwheelchair.

To date no solution has been offered to overcome any of the shortcomingdescribed in the industry of electronic wheelchairs for disabledpersons. Consumers are often frustrated by the lack of any solutions tothis problem, and consequently there remains an unmet need.

SUMMARY OF THE INVENTION

The present invention provides an EMG controlled motion controller whichis controlled directly by the input of a sensor as opposed to beingconformed to a pre-programmed input. The present invention minimizesdevice reaction time by allowing the sensors to directly command thewheelchair direction using a combination of sensor activations (allusing no more than 2 simultaneous activations for each command). Sincethe device is directly controlled by the wheelchair the user is directlyusing their muscles, which through the use of the inventive controller,determines the speed and direction the wheelchair will move.

The present invention further provides an emergency stop in the event ofa seizure, neurological shock, or other cause of involuntary musclemovement. The E-stop is activated upon receipt of a signal and as aresult of the received EMG signals, the controller communicates thewheelchair to stop. The stop signal can be intentionally triggered bythe user, and also triggers when an uncontrolled muscle impulse isprovided to the EMG signal controller.

Finally the present invention provides the ability to create additionalcommands, other than direction and speed, such as adjusting leg rest,height of wheelchair, angle of wheelchair, horn, and other accessories.

BRIEF DESCRIPTION OF THE DRAWINGS

For the present invention to be clearly understood and readilypracticed, the present invention will be described in conjunction withthe following figures, wherein like reference characters designate thesame or similar elements, which figures are incorporated into andconstitute a part of the specification, wherein:

FIG. 1 is an illustration of one embodiment of the EMG Sensor and EMGSignal Controller configuration.

FIG. 2 is an illustration of a detailed view of one embodiment of amotor controlled wheelchair making use of an EMG signal controller forcontrolling the wheelchair using EMG sensors.

FIG. 3 illustrates the EMG sensor inputs and subsequent control actionsin at least one embodiment of the invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The present invention is intended to provide full vehicular direct drivecontrol by a user, made possible by the use of one or more EMG sensorsapplied to a user. Without intending to limit the invention, in oneexample face muscles are used for providing input signals to the EMGsensors and ultimately controlling the motorized vehicle. The presentinvention is intended for subjects suffering from paralysis orsignificant physical disabilities, however nothing herein is intended tolimit who may use an EMG controlled vehicle, including those individualsnot suffering from any physical or neurological disabilities.

The following detailed description is merely exemplary in nature and isin no way intended to limit the scope of the invention, its application,or uses, which may vary. It is to be understood that in instances wherea range of values are provided that the range is intended to encompassnot only the end point values of the range but also intermediate valuesof the range as explicitly being included within the range and varyingby the last significant figure of the range. By way of example, arecited range of from 1 to 4 is intended to include 1-2, 1-3, 2-4, 3-4,and 1-4.

Generally

The present invention provides an electro-myographic (EMG) controlledelectronic wheelchair which includes a motor controlled wheelchair, atleast one EMG sensor and at least one EMG signal controller. The presentinvention includes features which provide for direct control of EMGsensors to a controlling unit of a wheelchair.

The present invention further provides for an emergency stop featurewhich stops a wheel chair and returns the controls to neutral in theevent of receiving a signal that the subject is having a seizure or someother neurological or physical shock. In at least one embodiment, theelectronic stop feature is a result of an EMG signal from anon-controlling muscle group.

Further included in the present invention is the ability to controlother electronic features of a motorized vehicle other than direction ormotion. It is appreciated that most electronic vehicles includeaccessories such as horns, or electronic adjustments for the seat orother parts of the chair to make the use of the vehicle comfortable by auser.

Further included in the present invention is the ability to retrofit anexisting motorized vehicle with the inventive EMG signal controller inplace of the existing joystick or controllers.

The present invention allows for direct drive using the EMG signalsreceived by the EMG controller, and does not require pre-programmedgestures. The EMG signal controller reacts, and communicated with theelectronic vehicle, based on the length of muscle activation.

Motor Controlled Vehicle

The motor controlled vehicle includes a chair for holding at least oneperson, one or more motors for controlling one or more wheels, and oneor more wheels. In some embodiments the motor controlled vehicle is awheelchair, but any motor controlled vehicle may be used for the presentinvention, such as a Segway, an electric scooter, an electronic golfcart, an electric car, an electric skateboard, or combinations thereof.For the avoidance of doubt, nothing herein is intended to limit theelectronic vehicle intended to be used in the present invention.

One embodiment of the present invention includes a motor controlledvehicle making use of the EMG signal controller, while at least oneembodiment of the wheelchair includes a joystick or controller, which isremoved and replaced by the inventive EMG signal controller, includingthe appropriate cable interfaces and impedance matching between the EMGsignal controller and the motorized vehicle.

It is appreciated that while a motorized vehicle is operated by motorswhich require large amount of electrical power to operate, that themotors are controlled by a motion controlling unit or circuit which is alow voltage circuit that activates switches, servos, or signals to othercontrollers in the motorized vehicle to perform a specific function thatis received by the motion controlling unit. It is further appreciatedthat the interface which distributes the low voltage motion signals tothe motors or the particular controllers or switches for the differentmotors, that in some embodiments, the same unit also distributes orcommunicated signals to the accessories of the motor vehicle.

The motion controlling unit distributes the communicated motion signalsfrom the EMG signal controller to the electronic wheel chair.Distributing the signals from the EMG signal controller to thewheelchair may be accomplished in a number of ways. In one embodiment,the electric signals are translated directly to the motion controllingunit (or a motion distribution center) of an electronic wheel chairwhich send commands to the one or more wheel motors and servos of theelectronic vehicle or wheelchair.

EMG Sensor

The electro-myographic (EMG) sensors are used to detect the electricalpotential generated by the cells of a subject. These cells includemuscle cells or neurological cells. It is intended as part of thisinvention that a subject deliberately interacts with, or commands, theEMG sensors. The electrical signals from the EMG sensors are thencommunicated and interpreted by the EMG Signal controller.

In at least one embodiment of the invention includes at least one EMGsensor for interacting with a subject to control the movement and tomaneuver an electric wheelchair. It is appreciated that to improvesignal accuracy, redundancy and to provide a higher resolution ofmovement and maneuvering responses that a plurality of EMG sensors areused to communicate between a subject and an EMG Signal Controller. Incertain embodiments, the invention uses two electro-myographic sensors(muscle voltage sensor) in tandem on sets of facial muscles or upperbody muscle sets to directly drive a powered vehicle or wheelchair. Inat least one embodiment three sensors are used, where a third sensor isplaced on an unused muscle group that would involuntarily flex or movein the event of a seizure or some other neurological or physical shock.The use of this third EMG sensor allows to provide an emergency stop tothe wheel chair or the motion controlling unit of the wheelchair when asignal is received by the third sensor. While the above descriptioncontemplates one, two or three sensors, nothing herein is intended tofix or limit the number of EMG sensors which may be used to provide aninput to the controller. It is appreciated that additional sensors maybe used to provide a higher resolution EMG signal to the EMG signalcontroller.

EMG Signal Controller

The EMG signal controller receives the EMG signals from the EMG sensorsand communicates a usable output to the wheelchair, or the motioncontrolling unit of the wheelchair. FIG. 1 provides at least oneembodiment of the EMG signal controller. The EMG sensors send signals tothe input of the EMG signal controller, which directly communicates thereceived signals to a central processing unit (CPU), a computer, of amicrocontroller.

In at least one embodiment, the raw EMG signal is used, and when the rawEMG signal goes above a pre-set threshold a command/activation input,the input is translated using one or more algorithms to a command(representing speed, direction, or operation of an accessory). The EMGsignal controller communicates the translated signal to electronics ofthe electronic vehicle to cause the electronic vehicle to activate oneor more motors or accessories.

One unique feature of the present invention, and in embodiments whichmake use of a plurality of EMG sensors, is that when multiple raw EMGsignals are received above the user's customized thresholds, differentuser commands can be activated. As a result the device can be customizedto each power wheelchair/vehicle and the output commands can be changedaccording to the application and user needs.

It should be appreciated that in some embodiments EMG signals must beabove a user's customized thresholds. Because the physiology of eachhuman is different, and more so with those who have debilitationinjuries or disorders, the strength of an EMG signal from user to usermay vary. Moreover, nearby muscles or muscle group may be sensed by anadjacent EMG sensor. Therefore, it is intended that the EMG signalsbeing received by a user be intentional and directly relate to a user'swill to make a certain command, instead of an inadvertent command. As aresult, in some embodiments, the EMG signal controller is calibrated toeach user. In some embodiments, the EMG controller includes a series ofsoftware commands for recording the EMG signals from a user in order tocalibrate the system and establish threshold EMG signal intensity forthe particular user. In some embodiments, pre-calibration is conductedupon startup and accounts for intrinsic user specific skin resistanceand baseline muscle energetics.

In at least one embodiment the 101 a first EMG sensor controls leftmovement, a 102 second EMG sensor controls right movement, and a 103third EMG sensor controls 302 an emergency stop. As provided earlier, inembodiments incorporating an emergency stop, an EMG sensor is intendedto be attached to a series of muscles or muscle groups that would onlybe used or flexed in the event of a seizure or some other neurologicalof physical shock. In such an embodiment, the 201 first microprocessorprocesses the 101,102 EMG signal 1 and 2, while the 202 secondmicroprocessor Processes 103 EMG signal 3 for the 302 E-stop. When 103signal 3 is activated 202 microprocessor 2 will stop all commands inmicroprocessor 1. Provided there is no 302 emergency stop signal, the301 controller takes all output signals from microprocessor 1 and sendsit as an input to the wheelchair/vehicle.

In at least one embodiment, the EMG signal controller receives at leasttwo inputs with a single output from a microcontroller, a user may drivein any direction, or set of directions, directly without interference orpre-programming. It should be appreciated that a dual input from EMGsensors with a single output, allows for vehicular control with onlyfacial muscles.

In at least one embodiment, the EMG signal controller provides a singleoutput to be received by the electronic vehicle. The single output frommicrocontroller and signal processing code, with pattern recognition,allows for direct input to the electronic vehicle for direct usercontrol.

In some embodiments the EMG signal controller includes an on board powersupply. The power supply may consist of any power supply known in theart. In some embodiments the power supply is a battery or an array ofbatteries. In some embodiment, the power supply is a power sourcereceived from the wheel chair. The power to the EMG signal controllermay be from a separate cable, or may be received from the output cableinterfacing the EMG signal controller to the electronic vehicle.

Conversion Kits

A kit for converting an electronic wheelchair to an electro-myographiccontrolled wheelchair is provided. The kit includes an EMG signalcontroller and an EMG sensor array containing at least one EVMG sensorfor connecting to a patient. It is appreciated that the output of thekit is intended to directly interface with the existing electronics ofthe electronic vehicle, such as the same plug that is in place forinterfacing with the joystick of the wheelchair. The joystick thataccompanies the electronic vehicle, particularly wheelchairs, isunplugged, and subsequently removed. The EMG signal controller is put inthe place of the previous joystick, and the cable that was removed fromthe joystick is placed into the EMG signal controller.

EXAMPLES

It is to be understood that while the invention has been described inconjunction with the detailed description herein, the foregoingdescription is intended to illustrate and not limit the scope of theinvention, which is defined by the scope of the appended claims. Otheraspects, advantages, and modifications are within the scope of thefollowing claims.

Example 1

An electro-myographic controlled wheel chair is provided that includes amotor controlled wheelchair, 3 EMG sensor and an EMG signal controlleradapted for receiving three EMG signals. EMG sensor 1 and 2 are attachedto the face of the individual. The third EMG sensor is attached betweenthe shoulder blades. EMG sensor 1 controls movement to the right. EMGsensor 2 controls movement to the left. Impulse activation of EMG sensor1 and EMG sensor 2 allows for forward movement, while intermittentfacial movements to sensor 1 and sensor 2 allow for a user to controlthe movement of the wheelchair. If the user activates sensors 1 and 2for a period of time (0.5 seconds in this example), the wheelchair ismoved in reverse. Upon the intermittent receipt of both signals 1 and 2further cause the chair to stop. FIG. 3 is illustrative of such analgorithm. Upon the receipt of an EMG signal from the third sensor thesignal stops

Other Embodiments

While at least one exemplary embodiment has been presented in theforegoing detailed description, it should be appreciated that a vastnumber of variations exist. It should also be appreciated that theexemplary embodiment or exemplary embodiments are only examples, and arenot intended to limit the scope, applicability, or configuration of thedescribed embodiments in any way. Rather, the foregoing detaileddescription will provide those skilled in the art with a convenient roadmap for implementing the exemplary embodiment or exemplary embodiments.It should be understood that various changes can be made in the functionand arrangement of elements without departing from the scope as setforth in the appended claims and the legal equivalents thereof.

That which is claimed is:
 1. A method for using a motorized wheelchairhaving an electro-myographic (EMG) signal controller for receiving andtranslating one or more signals from one or more EMG sensors to anelectrical signal to control a speed and direction of the motorizedwheelchair based on the signals received by the EMG sensors, the methodcomprising: providing a motorized wheelchair having an EMG signalcontroller for receiving and translating one or more signals from one ormore EMG sensors to an electrical signal to control a speed anddirection of the motorized wheelchair based on the signals received bythe EMG sensors; attaching one or more EMG sensors to the face of thewheelchair occupant, wherein said EMG sensors are providing an input tosaid EMG signal controller from facial muscle input of the wheelchairoccupant; and controlling speed and direction of the motorizedwheelchair based on the signals received by the EMG sensors from the oneor more facial muscles of the wheelchair occupant.
 2. The method ofclaim 1 further comprising programming EMG controller to control saidmotorized wheelchair based on the facial muscle input preferences of thesubject using the wheelchair.
 3. The method of claim 1 furthercomprising controlling other operations of the motorized wheelchairbased on the signals received by the EMG sensor, wherein said signalsreceived are used to activate the horn, adjust leg rests, adjust of theheight of the wheelchair, adjust the angle of the wheelchair, orcombinations thereof
 4. An electro-myographic (EMG) controlledelectronic wheelchair controlled by the facial muscle inputs from one ormore EMG sensors being attached to the face of a wheelchair occupant,the EMG wheelchair comprising: at least one EMG sensor attached to theface of a wheelchair occupant; a motor controlled wheelchair having oneor more motors which control a direction and speed that the wheelchairwill travel; and at least one EMG signal controller programmed toreceive facial muscle input of the wheelchair occupant as a result ofthe one or more EMG signals from said one or more EMG sensors attachedto the face of the wheelchair occupant and translating said EMG signalsto a directional input which is communicated to the wheelchair tocontrol the direction and speed of the wheelchair based on said EMGsignals.
 5. The EMG wheelchair of claim 5 wherein said EMG signalcontroller further comprises a non-transitory computer-readable mediumcontaining computer-readably instructions which, when executed, cause acomputer to perform the process of interpreting EMG signals received byone or more EMG sensors and communicating the interpreted signals to amotion controlling circuit.
 6. The EMG wheelchair of claim 5 furthercomprising controlling other operations of the motorized wheelchairbased on the signals received by the EMG sensor, wherein said signalsreceived are used to activate the horn, adjust leg rests, adjust of theheight of the wheelchair, adjust the angle of the wheelchair, orcombinations thereof.